Camera monitoring system with a display displaying an undistorted portion of a wide angle image adjoining at least one distorted portion of the wide angle image

ABSTRACT

This camera monitoring system (20) is intended for providing to a user a view of a scene captured by a camera. To that end, the camera monitoring system (20) comprises a wide angle camera (22A, 22B) for capturing a wide angle image of a scene, a determination unit (28) for determining an area of interest in the scene, an image treatment system (24A, 24B) for providing an undistorted portion, including the area of interest, of the wide angle image, and a display (26A, 26B) for displaying a continuous displayed image of the wide angle image. The displayed image comprises the undistorted portion adjoining at least one distorted portion of the wide angle image.

This application is a 35 USC 371 national phase filing of InternationalApplication No. PCT/IB2018/000137, filed Jan. 5, 2018, the disclosure ofwhich is incorporated herein by reference in its entirety.

The present invention concerns a camera monitoring system for providingto a user a view of a scene captured by a camera.

This camera monitoring system is more particularly intended to providethe user with a view of the environment of a vehicle driven by the user.

Conventionally, automotive vehicles are equipped with wing mirrors toprovide the driver of the automotive vehicle with a view of the sides ofthe vehicle. These wing mirrors are usually divided into two portionsproviding different fields of vision. Generally, the portion of the wingmirror which is the closest to the driver consist of a main exteriorrear-view mirror, while the portion of the wing mirror farther from thedriver consists of a wide angle exterior mirror.

These mirrors have different horizontal average magnification factors,said horizontal average magnification factors consisting of the relationof the angular size of an object as it is perceived by the driver on themirror upon the angular size of the object as it would be seen by anobserver placed at the position of the wing mirror; the main exteriorrear-view mirror has the highest horizontal average magnificationfactor, while the wide angle exterior mirror has a lower horizontalaverage magnification factor.

Several standards define more precisely the requirements that the mainexterior rear-view mirrors and the wide angle exterior mirrors mustmeet. In Europe, this definition is provided by UNECE Regulation No. 46on “Uniform provisions concerning the approval of devices for indirectvision and of motor vehicles with regard to the installation of thesedevices”, in which the main exterior rear-view mirrors are defined asclass II mirrors, and the wide angle exterior mirrors are defined asclass IV mirrors.

The use of mirrors has however been unsatisfactory and we now meet atrend of replacing conventional wing mirrors with camera monitoringsystems comprising cameras for capturing views of the sides of thevehicle and screens for displaying the views captured by the cameras.These camera monitoring systems are intended to provide at least thefunctionalities provided by the conventional mirrors and, thus, toprovide a view corresponding to the view provided by a main exteriorrear-view mirror and a view corresponding to the view provided by a wideangle exterior mirror.

The most common solution consists of providing the camera monitoringsystems with a first screen closest to the driver providing a first viewsimilar to the view provided by a main exterior rear-view mirror, and asecond screen farther from the driver while adjoining the first screen,said second screen providing a second view similar to the view providedby a wide angle exterior mirror.

However, such a solution is unsatisfactory when it equips a trailertruck. Indeed, it is common that, when the truck is turning, the end ofthe trailer will leave the image provided by the first screen and enterthe image provided by the second screen, where the driver will havewrong estimation of distances because of the lowest horizontal averagemagnification factor. And while, with conventional mirrors, this problemcould be circumvented by the driver craning his head, this is no longerpossible with the screens of the camera monitoring systems.

One aim of the invention is thus to allow provision to the driver of atrailer truck of a view of the sides of his truck that will help him inevaluating distances in the critical areas on which he will have to drawhis attention. Other aims of the invention are to provide this view in amanner that will be ergonomic to the driver and to limit thecalculations necessary to provide this view.

To that end, the invention relates to a camera monitoring systemcomprising

-   -   a wide angle camera for capturing a wide angle image of a scene,    -   a determination unit for determining an area of interest in the        scene,    -   an image treatment system for providing an undistorted portion,        including the area of interest, of the wide angle image, and    -   a display for displaying a continuous displayed image of the        wide angle image, the displayed image comprising the undistorted        portion adjoining at least one distorted portion of the wide        angle image.

According to specific embodiments of the invention, the cameramonitoring system also has one or more of the following features,considered alone or according to any technically possiblecombination(s):

-   -   the wide angle image has first and second preset limits and the        displayed image has first and second opposed borders, the or        each distorted portion being interposed between the undistorted        portion and a respective one of the first and second borders,        the display being configured to display the first preset limit        at the first border and the second preset limit at the second        border independently of the position of the area of interest;    -   the undistorted portion has a first average magnification factor        along a first direction of the displayed image and a second        average magnification factor along a second direction,        orthogonal to the first direction, of the displayed image, the        first and second average magnification factors being        substantially equal to each other;    -   the first and second borders are spaced away from each other        along the second direction, and are preferably substantially        parallel to the first direction;    -   the or each distorted portion has a primary average        magnification factor along the first direction and a secondary        average magnification factor along the second direction, the        primary average magnification factor being substantially equal        to the first average magnification factor, the secondary average        magnification factor being inferior to the second average        magnification factor;    -   for the or each displayed distorted portion, the undistorted        portion has an interface edge in contact with said distorted        portion, the interface edge extending along the first direction;    -   the first average magnification factor is comprised between 0.2        and 1.0;    -   the determination unit comprises a head tracking unit for        tracking movement of a head of the user;    -   the determination unit comprises a gaze tracking unit for        tracking movement of a gaze direction of the user;    -   the display is configured for displacing the undistorted portion        in the displayed image depending on the position of the area of        interest in the scene; and    -   the wide angle camera is configured for refreshing the wide        angle image at a predetermined frequency.

The invention also concerns an automotive vehicle comprising the cameramonitoring system defined above, the wide angle camera being orientedtoward the rear of the vehicle, the display comprising a display surfaceon which the displayed image is presented, said display surface beingpositioned in the field of view of the driver.

According to a specific embodiment of the invention, the automotivevehicle also has the following feature:

-   -   the determination unit comprises a trailer tracking unit for        tracking position of the trailer relatively to the tractor.

The invention also concerns a method for providing to a user a view of ascene captured by a camera, wherein said method comprises:

-   -   capturing a wide angle image of a scene with a wide angle        camera,    -   determining an area of interest in the scene,    -   providing an undistorted portion, including the area of        interest, of the wide angle image, and    -   displaying a continuous displayed image of the wide angle image,        the displayed image comprising the undistorted portion adjoining        at least one distorted portion of the wide angle image.

Other features and advantages of the invention will appear upon readingthe following description, provided solely as an example and done inreference to the appended drawings, in which:

FIG. 1 is a view from above of an automotive vehicle according to theinvention,

FIG. 2 is a block diagram of a camera monitoring system of theautomotive vehicle of FIG. 1 ,

FIG. 3 is a view of the interior of a driver's cabin of the vehicle ofFIG. 1 ,

FIG. 4 is a view of a first wide angle image provided by a camera of thecamera monitoring system of FIG. 2 ,

FIG. 5 is a view of a first displayed image, corresponding to the wideangle image of FIG. 4 , provided by a display of the camera monitoringsystem of FIG. 2 ,

FIG. 6 is a view of a second wide angle image provided by the camera ofthe camera monitoring system of FIG. 2 , and

FIG. 7 is a view of a second displayed image, corresponding to the wideangle image of FIG. 6 , provided by the display of the camera monitoringsystem of FIG. 2 .

The automotive vehicle 10 of FIG. 1 consists of a trailer truck. Itcomprises, in a known manner, a tractor 12 and a trailer 14 towed by thetractor 12. The tractor 12 houses a cabin 16 (FIG. 3 ) intended for thedriver of the truck 10.

In the following, the orientation terms are intended in reference to theusual orthogonal orientation reference frame of automotive vehicles,shown in FIG. 1 , and which comprises:

-   -   a longitudinal axis X, oriented from the rear toward the front,    -   a transversal axis Y, oriented from the right toward the left,        and    -   a vertical axis Z, oriented from the bottom toward the top.

The driver of the truck 10, while sitting in the cabin 16, is usuallylooking toward the road in front of the truck 10, where the truck 10 isheading. However, for some manoeuvers, the driver needs to have a viewof the sides of the truck 10, while keeping an eye on the road in frontof the truck 10. Since these sides are out of the field of view of thedriver, a device is needed to provide the required view to the driver.

To that end, the truck 10 comprises a camera monitoring system 20, shownin FIG. 2 . This camera monitoring system 20 is preferably exclusivelyon board of the tractor 12.

This camera monitoring system 20 comprises two cameras 22A, 22B, eachable to capture an image of a respective scene, and, for each camera22A, 22B, an image treatment system 24A, 24B and a display 26A, 26B. Thecamera monitoring system 20 further comprises a determination unit 28for determining, for each camera 22A, 22B, an area of interest in thescene imaged by the camera 22A, 22B, and a configuration unit 30 forconfiguring each display 26A, 26B.

As shown in FIG. 1 , a first one 22A of the cameras 22A, 22B is providedon the left side of the tractor 12, while the second camera 22B isprovided on the right side of the tractor 12. Both cameras 22A, 22B areoriented toward the rear of the truck 10, which means that the sceneimaged by each camera 22A, 22B is positioned rearward of the camera 22A,22B. In other words, the field of view 32A, 32B of each camera 22A, 22Bis centered on a direction extending rearward from the camera 22A, 22B.

Each camera 22A, 22B is in particular oriented so that its field of view32A, 32B includes a respective side 34A, 34B of the tractor 12.

Each camera 22A, 22B consists in particular of a wide angle camera,which means that each camera 22A, 22B is able to capture a wide angleimage of the scene imaged by the camera. In other words, the angularextent of the field of view 32A, 32B of the camera 22A, 22B is wide,i.e. is wider than 20 degrees.

More specifically, it is the horizontal angular extent of the field ofview 32A, 32B of the camera 22A, 22B which is wide. It is not necessaryfor the vertical angular extent of the field of view of any of thecameras 22A, 22B to be wide. Preferably, the vertical angular extent ofthe field of view of both cameras 22A, 22B is comprised between 5 and 20degrees.

As a result thereof, the images provided by the cameras 22A, 22B aredistorted, as can be seen on FIGS. 4 and 6 , where examples 50, 52 ofimages captured by the right camera 22B are provided. By “distorted”, itis meant that the magnification factor of these images changes acrossthe field of view at a fixed working distance. In other words, therelation of a dimension of an object as it is shown in the image 50, 52upon the angular size of the object as it is seen by the camera 22A, 22Bchanges depending on the location of the object in the image 50, 52. Ascan be seen on these images 50, 52, as a result of this distortion,right lines, such as the edges 54, 56 of the trailer 14, appear curvedon the images 50, 52.

Each camera 22A, 22B is configured for refreshing the image of itsrespective scene at a predetermined frequency, said frequency beingpreferably comprised between 40 and 80 frame per second, preferablybetween 50 and 70 frame per second.

The displays 26A, 26B comprise a first display 26A associated with thefirst camera 22A and a second display 26B associated with the secondcamera 22B. Each display 26A, 26B is configured for displaying, in thefield of view of the driver of the truck 10, a displayed image of theimage captured by its associated camera 22A, 22B. Examples 60, 62 ofsuch a display image, corresponding respectively to the wide angleimages 50 and 52, are provided on FIGS. 5 and 6 .

To that end, each display, respectively 26A, 26B, comprises, withreference to FIG. 3 , a display surface, respectively 36A, 36B, on whichthe displayed image is presented, said display surface 36A, 36B beingpositioned in the field of view of the driver of the truck 10. Eachdisplay 26A, 26B further comprises a display management unit (not shown)for displaying the displayed image on said surface 36A, 36B.

In the shown example, the display surface 36A, 36B of each display 26A,26B consists of a screen.

The display surface 36A, 36B of each display 26A, 26B is provided on thesame side of the cabin 16 as the associated camera 22A, 22B. Thus, thedisplay surface 36A of the first display 26A is provided on left side ofthe cabin 16, while the display surface 36B of the second display 26B isprovided on right side of the cabin 16.

The display surface 36A, 36B which is the farthest from the steeringwheel 38 is bigger than the other display surface 36A, 36B. In the shownexample, the steering wheel 38 is provided on the left side of the cabin16; the biggest display surface is therefore display surface 36B.

Each display surface 36A, 36B is delimited by a frame 39 including aninner border 40 which is the closest to a longitudinal median plane M(FIG. 1 ) of the tractor 12, and an outer border 42 which is thefarthest from said longitudinal median plane M. The inner and outerborders 40, 42 are thus spaced transversally from each other.Advantageously, the inner and outer borders 40, 42 are both orientedsubstantially vertically.

The configuration unit 30 is configured for setting a first preset limit44 and a second preset limit 45 to the wide angle image 50, 52, so thatthe displayed image 60, 62 only presents the part of the wide angleimage 50, 52 comprised between said preset limits 44, 45. These presetlimits 44, 45 are spaced apart from each other along a horizontaldirection.

As mentioned above, the determination unit 28 is configured fordetermining, for each camera 22A, 22B, an area of interest in the sceneimaged by the camera 22A, 22B. To that end, the determination unit 28comprises typically a gaze tracking unit (not shown) for tracking a gazedirection of the driver and a main calculator (not shown) configured fordetermining, depending on the gaze direction, the position of an area ofinterest in the scene. For instance, the main calculator is configuredto determine that an area of interest exists in the scene imaged by acamera 22A, 22B when the gaze direction is oriented toward the displaysurface 36A, 36B of the display 26A, 26B associated to said camera 22A,22B. The main calculator is further configured to determine that thearea of interest is in an angular sector of the field of view of thecamera 22A, 22B which is increasingly far from the median plane M as thedistance of the gaze direction from the inner border 40 increases. Inother words, the main calculator provides a bijection between thedistance of the gaze direction from the inner border 40 and the angle ofview of the area of interest, defined as the angle between thelongitudinal median plane M and the direction connecting the area ofinterest to the camera 22A, 22B, said bijection being an increasingfunction.

Alternatively, the determination unit 28 comprises a head tracking unit(not shown) for tracking movement of a head of the driver and a maincalculator (not shown) configured for determining, depending on theposition of said head, the position of an area of interest in the scene.For instance, the main calculator is configured to determine that, themore the driver leans forward, the greater the angle of view of the areaof interest is, said angle of view being defined as the angle betweenthe longitudinal median plane M and the direction connecting the area ofinterest to the camera 22A, 22B; in other words, the main calculatorprovides a bijection between the distance of the distance of the head ofthe driver from the windshield 43 and the angle of view of the area ofinterest, said bijection being a decreasing function.

In another alternative, the determination unit 28 comprises a trailertracking unit (not shown) for tracking position of the trailer 14relatively to the tractor 12 and a main calculator (not shown)configured for determining, depending on the position of said trailer14, the position of an area of interest in the scene.

The trailer tracking unit typically comprises a sensor for measuring anangle between the trailer 14 and the tractor 12. Alternatively, thetrailer tracking unit comprises an image treatment system foridentifying, in the images provided by the cameras 22A, 22B, theposition of a rear end 46 (FIG. 1 ) of the trailer 14, and a secondarycalculator configured to deduce thereof the position of the trailer 14relatively to the tractor 12. In another alternative, the trailertracking unit comprises sensors for measuring a steering angle of thetractor 12 and a speed of the tractor 12, and a secondary calculatorconfigured to deduce thereof the position of the trailer 14 relativelyto the tractor 12. In both latter cases, the secondary calculator may bemerged with the main calculator.

The main calculator is then configured for determining that the area ofinterest consists of the area of the scene in which the rear end 46 ofthe trailer 14 is.

In still another alternative, the determination unit 28 comprises atleast two of the gaze tracking unit, head tracking unit and trailertracking unit mentioned above. In such a case, the main calculator isconfigured for deducing the position of the area of interest from theseveral pieces of information provided by the different tracking units.

Each image treatment system 24A, 24B is configured for receiving thewide angle image captured by a respective one of the cameras 22A, 22B.Each image treatment system 24A, 24B is further configured for receivingfrom the determination unit 28 a signal indicating the location of anarea of interest in the scene imaged by said respective camera 22A, 22Bwhen the determination unit 28 has determined that such an area ofinterest is present in said scene.

Each image treatment system 24A, 24B is configured to process the wideangle image captured by the respective camera 22A, 22B so as to providethe displayed image 60, 62, said displayed image 60, 62 comprising anundistorted portion 64 including the area of interest determined by thedetermination unit 28, and at least one distorted portion 66, 68.

By “undistorted portion”, it is meant that the magnification factorprovided by said portion 64 is constant throughout the portion 64. Inother words, the relation of a dimension of an object as it is shown inthe portion 64 upon the angular size of the object as it is seen by thecamera 22A, 22B is the same for every object shown in the undistortedportion. As a consequence thereof, right lines, such as the edges 54, 56of the trailer 14, are shown right in said undistorted portion 64.

The image treatment system 24A, 24B is configured to provide thedisplayed image 60, 62 in such a manner that the undistorted portion 64adjoins the at least one distorted portion 66, 68. For each distortedportion 66, 67, the undistorted portion 64 thus has an interface edge68, 69 in contact with said distorted portion 66, 67.

The image treatment system 24A, 24B is further configured to provide thedisplayed image 60, 62 in such a manner that the displayed image 60, 62is continuous, i.e. so that there is not discontinuity in the image 60,62, in particular at the interface between the undistorted portion 64and the at least one distorted portion 66, 67.

The image treatment system 24A, 24B is configured to provide thedisplayed image 60, 62 within a frame 70, said frame 70 having the sameshape and the same ratio as the frame 39 of the display surface 36A, 36Bof the corresponding display 26A, 26B.

This frame 70 has an outer border 72, an inner border 74, an upperborder 76 and a lower border 78, the upper and lower borders 76, 78being spaced apart from each other along a first direction D1 whilebeing substantially parallel to each other, the outer and inner border72, 74 being spaced apart from each other along a second direction D2while being substantially parallel to each other. Preferably, as shown,the outer and inner borders 72, 74 are substantially parallel to thefirst direction D1, and the upper and lower borders 76, 78 aresubstantially parallel to the second direction D2. Furthermore, thefirst and second directions D1, D2 are advantageously, as shown,substantially orthogonal to each other.

The image treatment system 24A, 24B is configured to provide thedisplayed image 60, 62 so that the inner border 74 consists of the firstpreset limit 44 of the wide angle image 50, 52, and the outer border 45consists of the second preset limit 45 of the wide angle image 50, 5,whatever the position of the area of interest in the scene is.

The image treatment system 24A, 24B is configured to provide the or eachdistorted portion 66, 67 interposed between the undistorted portion 64and a respective one of the outer and inner borders 72, 74.

The image treatment system 24A, 24B is further configured so that the oreach interface edge 68, 69 of the undistorted portion 64 extends in thefirst direction D1.

The image treatment system 24A, 24B is configured to provide theundistorted portion 64 with a first average magnification factor alongthe first direction D1 and with a second average magnification factoralong the second direction D2, the second average magnification factorbeing substantially equal to the first average magnification factor. Thefirst magnification factor is in particular comprised between 0.2 and1.0.

The image treatment system 24A, 24B is further configured to provide theor each distorted portion 66, 67 with a primary average magnificationfactor along the first direction D1 and with a secondary averagemagnification factor along the second direction D2. The primary averagemagnification factor is substantially equal to the first magnificationfactor, while the secondary average magnification factor is inferior tothe second magnification factor.

The image treatment system 24A, 24B is configured to provide theundistorted portion 64 with a fixed width along the second direction D2,independently of the position of the area of interest in the scene. Saidwidth is preferably more than half the width of the displayed image 60,62, measured from the outer border 72 to the inner border 74. Forinstance, the width of the undistorted portion 64 is approximately twothirds of the width of the displayed image 60, 62.

The image treatment system 24A, 24B is configured to center theundistorted portion 64 on the area of interest and to displace theundistorted portion 64 in the displayed image 60, 62 depending on theposition of the area of interest in the scene. Thus, if the area ofinterest is closer from a preset limit 44, 45 than half the width of theundistorted portion 64, as shown in FIGS. 4 and 5 , then the undistortedportion 64 is in abutment against the inner or outer border 72, 74 ofthe displayed image 60, 62 and a single distorted portion 66 of the wideangle image 50 is provided between the undistorted portion 64 and theopposite border 72, 74. If the area of interest is farther from bothpreset limits 44, 45 than half the width of the undistorted portion 64,as shown in FIGS. 6 and 7 , then the undistorted portion 64 is spacedfrom both the inner and outer borders 72, 74 of the displayed image 60,62 and distorted portions 66, 67 of the wide angle image 50 are providedon both sides of the undistorted portion 64 between said undistortedportion 64 and both inner and outer borders 72, 74.

The corresponding display 26A, 26B is configured to display thedisplayed image 60, 62 as provided by the image treatment system 24A,24B, the frame 70 of the displayed image 60, 62 matching the frame 39 ofthe display surface 36A, 36B, the inner border 74 matching the innerborder 40 and the outer border 72 matching the outer border 42.

A method implemented by the camera monitoring system 20 to provide thedriver with a side view of the truck will now be described.

First, the truck 10 is advancing straight ahead. The trailer 14 is thenaligned with the tractor 12, and the image captured by the right camera22B is then the image 50 shown in FIG. 4 .

The determination unit 28 then determines that the area of interest isthe angular sector in which the rear end 46 of the trailer 14 islocated. This determination is made either by locating the trailer 14relatively to the tractor 12, or by identifying an eye or head movementof the driver showing an interest of the driver in said angular sector.

This information is provided by the determination unit 28 to the imagetreatment system 24B, which provides the displayed image 60 of FIG. 5 .This image is then displayed by the display 26B on the display surface36B.

The truck 10 then turns right. As a consequence thereof, the trailer 14is no longer aligned with the tractor 12 and is shifted toward the rightside of the tractor 12. The image captured by the right camera 22B isthen the image 52 shown in FIG. 6 .

The determination unit 28 then determines that the area of interest isthe angular sector in which the rear end 46 of the trailer 14 islocated. This determination is made either by locating the trailer 14relatively to the tractor 12, or by identifying an eye or head movementof the driver showing an interest of the driver in said angular sector.

This information is provided by the determination unit 28 to the imagetreatment system 24B, which provides the displayed image 62 of FIG. 7 ,where the undistorted portion 64 has been displaced relatively to theimage 60. This image is then displayed by the display 26B on the displaysurface 36B.

Thanks to the displacement of the undistorted portion 64, the driver hasa better view of the elements that are positioned on the right side ofthe rear end 46 of the trailer 14 and can thus more easily evaluate thedistance of these objects from the rear end 46.

The invention claimed is:
 1. A camera monitoring system for providing toa user a view of a scene captured by a camera, the camera monitoringsystem comprising: a first wide angle camera for capturing a first wideangle image of a scene, a second wide angle camera for capturing asecond wide angle image of the scene, a determination unit fordetermining an area of interest in the scene, the determination unitcomprising a gaze tracking unit for tracking movement of a gazedirection of the user, an image treatment system for providing anundistorted portion, including the area of interest, of each of thefirst wide angle image and the second wide angle image, and a displayfor displaying a first continuous displayed image of the first wideangle image and a second continuous displayed image of the second wideangle image, each of the first displayed image and the second displayedimage comprising the undistorted portion adjoining and continuous withat least one distorted portion, wherein: each of the first wide angleimage and the second wide angle image has first and second preset limitsand each of the first displayed image and the second displayed image hasfirst and second opposed borders, the at least one distorted portionbeing interposed between the undistorted portion and a respective one ofthe first and second borders, the display being configured to displaythe first preset limit at the first border and the second preset limitat the second border independently of a position of the area ofinterest; and the undistorted portion of each of the first displayedimage and the second displayed image has a first average magnificationfactor along a first direction and a second average magnification factoralong a second direction, orthogonal to the first direction, the firstand second average magnification factors being substantially equal toeach other.
 2. The camera monitoring system of claim 1, wherein thefirst and second borders are spaced away from each other along thesecond direction, and are preferably substantially parallel to the firstdirection.
 3. The camera monitoring system of claim 1, wherein thedistorted portion has a primary average magnification factor along thefirst direction and a secondary average magnification factor along thesecond direction, the primary average magnification factor beingsubstantially equal to the first average magnification factor, thesecondary average magnification factor being less than the secondaverage magnification factor.
 4. The camera monitoring system of claim1, wherein, for the displayed distorted portion, the undistorted portionhas an interface edge in contact with the distorted portion, theinterface edge extending along the first direction.
 5. The cameramonitoring system of claim 1, wherein the first average magnificationfactor is comprised between 0.2 and 1.0.
 6. The camera monitoring systemof claim 1, wherein the determination unit comprises a head trackingunit for tracking movement of a head of the user.
 7. The cameramonitoring system of claim 1, wherein the display is configured fordisplacing the undistorted portion in each of the first displayed imageand the second displayed image depending on the position of the area ofinterest in the scene.
 8. The camera monitoring system of claim 1,wherein each of the first wide angle camera and the second wide anglecamera are configured for refreshing, respectively, the first wide angleimage and the second wide angle image at a predetermined frequency. 9.An automotive vehicle comprising a camera monitoring system forproviding to a user a view of a scene captured by a camera, the cameramonitoring system comprising: a first wide angle camera for capturing afirst wide angle image of a scene, a second wide angle camera forcapturing a second wide angle image of the scene, a determination unitfor determining an area of interest in the scene, the determination unitcomprising a gaze tracking unit for tracking movement of a gazedirection of the user, an image treatment system for providing anundistorted portion, including the area of interest, of each of thefirst wide angle image and the second wide angle image, and a displayfor displaying a first continuous displayed image of the first wideangle image and a second continuous displayed image of the second wideangle image, each of the first displayed image and the second displayedimage comprising the undistorted portion adjoining and continuous withat least one distorted portion, wherein: each of the first wide anglecamera and the second wide angle camera are oriented toward a rear ofthe vehicle, the display comprising a display surface on which thedisplayed image is presented, the display surface being positioned in afield of view of a driver of the vehicle; each of the first wide angleimage and the second wide angle image has first and second preset limitsand each of the first displayed image and the second displayed image hasfirst and second opposed borders, the at least one distorted portionbeing interposed between the undistorted portion and a respective one ofthe first and second borders, the display being configured to displaythe first preset limit at the first border and the second preset limitat the second border independently of a position of the area ofinterest; and the undistorted portion of each of the first displayedimage and the second displayed image has a first average magnificationfactor along a first direction and a second average magnification factoralong a second direction, orthogonal to the first direction, the firstand second average magnification factors being substantially equal toeach other.
 10. The automotive vehicle of claim 9, comprising a tractorand a trailer, wherein the determination unit comprises a trailertracking unit for tracking a position of the trailer relatively to thetractor.
 11. A method for providing to a user a view of a scene capturedby a camera, the method comprising: capturing a first wide angle imageof a scene with a first wide angle camera and a second wide angle imageof the scene with a second wide angle camera, determining an area ofinterest in the scene, tracking movement of a gaze direction of theuser, providing an undistorted portion, including the area of interest,for each of the first wide angle image and the second wide angle image,and displaying, for each of the first wide angle image and the secondwide angle image, a continuous displayed image of the first wide angleimage and the second wide angle image, the displayed image comprisingthe undistorted portion adjoining and continuous with at least onedistorted portion, wherein: each of the first wide angle image and thesecond wide angle image has first and second preset limits and each ofthe first displayed image and the second displayed image has first andsecond opposed borders, the at least one distorted portion beinginterposed between the undistorted portion and a respective one of thefirst and second borders, displaying the first preset limit at the firstborder and the second preset limit at the second border independently ofa position of the area of interest; and the undistorted portion of eachof the first displayed image and the second displayed image having afirst average magnification factor along a first direction and a secondaverage magnification factor along a second direction, orthogonal to thefirst direction, the first and second average magnification factorsbeing substantially equal to each other.